This paper addresses the often-cited problems associated with haptic display of rigid bodies or “virtual walls”. Traditional haptic interfaces employ an actuator directly coupled to the human operator that provides a force proportional to wall penetration distance and velocity. A new paradigm for design and control of haptic displays is proposed that utilizes a de-coupled actuator and pre-conta...

Soft tissue simulation is very important in medical simulation and learning procedures. But such simulations require intensive computation. With the force feedback devices, the computation required should be much faster as touch sensation is approximately 20 times faster than that of visual. Efficient collision detection techniques are required to quickly locate the touched node of the model an...

This paper presents our experience towards the conception of a virtual reality medical simulator coupled with haptic interaction aimed at training surgeons. This area of research has a long history and a wide variety of approaches have been used. Generally, human tissue can be considered as a deformable body of viscoelastic material. To enable dynamic simulation of these bodies, we have patched...

This paper describes a multithreaded platform to implement a haptic interface to control a Virtual Reality (VR) model of a 6DoF arm with applications towards rehabilitation robotics. The approach allows the defined threads to execute concurrently, resulting in increased utilization of the processor resources and higher instruction execution rates consistent with a realistic rendering of the tou...

In this paper we present a simulator for two-handed haptic interaction. As an application example, we chose a medical scenario that requires simultaneous interaction with a hand and a needle on a simulated patient. The system combines bimanual haptic interaction with a physics-based soft tissue simulation. To our knowledge the combination of finite element methods for the simulation of deformab...

Availability of commodity physics engines such as PhysX’s nVidia has significantly reduced the effort required for developing interactive applications concerning the simulation of the physical world. However, it becomes a problem when force feedback is needed since the addition of haptic rendering into these applications is non-trivial. The issues include the high haptic update rate and the ina...

Surgery Simulation Guillaume Picinbono Jean-Christophe Lombardo Hervé Delingette Nicholas Ayache Epidaure Project I.N.R.I.A. 06902 Sophia-Antipolis Cedex, BP 93, France http://www-sop.inria.fr/epidaure/ [email protected] Abstract In this paper, we describe the latest developments of the minimally invasive hepatic surgery simulator prototype developed at INRIA. The goal of this sim...

A method for real time simulation and interaction of deformable objects in medical simulators is proposed. We are interested in applications for training surgeons using haptic interaction. For haptic purposes, our medical simulator is based on a dual model architecture; simulation and haptics. We currently use a new physical model LEM Long Element Method as the simulation model. We find that th...

A method for real time simulation and interaction of deformable objects in medical simulators is proposed. We are interested in applications for training surgeons using haptic interaction. For haptic purposes, our medical simulator is based on a dual model architecture; simulation and haptics. We currently use a new physical model LEM Long Element Method as the simulation model. We find that th...